Fixposition GNSS Transformation Lib

• Ubuntu 20.04 / 22.04
• ROS1 melodic / noetic
• ROS2 foxy / humble

fixposition_gnss_tf

This is a simple C++ library for geodetic coordinate transformations. This should also serve as an example of how to calculate spatial coordinate transformations between the following coordinate frames:

• ECEF: Earth-Center-Earth-Fixed
• ENU: East-North-Up (Local tangiantial plane)
• LLH: Latitude, Longitude, Height, based on WGS84 Ellipsoid

Dependencies

• Eigen3, tested with version 3.3.7
• CMake
• Yaml-Cpp

For the tests:

• Googletest

Build system:

• Plain CMake
• catkin (for ROS1)
• colcon (for ROS2)

Installing dependencies on Ubuntu system

 sudo apt update
 sudo apt install -y wget
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 sudo apt-get update
 sudo apt install -y build-essential cmake
 sudo apt install -y libeigen3-dev
 sudo apt install -y libyaml-cpp-dev

if you also want to run the unit-tests:

 sudo apt-get install libgtest-dev
 cd /usr/src/gtest
 sudo cmake .
 sudo make
 sudo make install

Build

Using catkin (ROS1):

• Create a ament workspace with the structure:

catkin_ws
└── src
    └── fixposition_gnss_tf
    └── <Other Pacakges>

• in the workspace do:

catkin build fixposition_gnss_tf

• and to build and run unit tests

catkin build fixposition_gnss_tf -DBUILD_TESTING=ON
catkin run_tests fixposition_gnss_tf

Using colcon (ROS2):

• Create a ament workspace with the structure:

ament_ws
└── src
    └── fixposition_gnss_tf
    └── <Other Pacakges>

• in the workspace do:

colcon build --packages-select fixposition_gnss_tf

• and to build and run unit tests

# build with testing enabled
colcon build --packages-select fixposition_gnss_tf --cmake-args -DBUILD_TESTING=ON
# run the tests
colcon test --packages-select fixposition_gnss_tf
# check the results
colcon test-result --test-result-base build/fixposition_gnss_tf/

Using CMake:

• setup build directory

mkdir build
cd build

• build without unit tests

cmake ..
make

• build and run unit tests

cmake .. -DBUILD_TESTING=ON
make test

Example Usage

See test/gnss_test.cpp for examples of how to use these functions

Documentation

• Make sure you have Doxygen installed
• Run doxygen Doxyfile and then open doc_gen/html/index.html for the documentation

Related Readings

• Wikipedia - Geographic coordinate conversion
• ESA NAvipedia - Transformations between ECEF and ENU coordinates

License

This project is licensed under the MIT License - see the LICENSE file for details